| 摘要 |
An autonomous traveling vehicle is controlled to faithfully reproduce a planned traveling route and to autonomously travel. The autonomous traveling vehicle (100) includes a platform portion (1), a traveling unit (2), a teaching unit (71), a curvature calculation unit (74), and a control parameter adjustment unit (757). The traveling unit (2) is mounted on the platform portion (1) and controls the platform portion (1) to travel. In a teaching travel mode, the teaching unit (71) acquires subgoal points (P k ). The teaching unit (71) stores planned traveling route data (500a) as an aggregate of the subgoal points (P k ). The curvature calculation unit (74) calculates and stores a key curvature radius (R). In a reproduction travel mode, the control parameter adjustment unit (757) adjusts a control parameter (K p ) for determining an direction angle feedback control amount of the traveling unit (2) on the basis of the key curvature radius (R) calculated by the curvature calculation unit (74). |
